Mitsubishi Electric MELSEC iQ-R Series User Manual page 215

■Torque command setting method
During the continuous operation to torque control mode, set time for the command torque to increase from 0% to "[Pr.17]
Torque limit setting value" in "[Cd.151] Torque time constant at continuous operation to torque control mode (Forward
direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value" to 0% in "[Cd.152] Torque time
constant at continuous operation to torque control mode (Negative direction)". The value at continuous operation to torque
control mode switching request is valid for "[Cd.151]" and "[Cd.152]".
The command torque during the continuous operation to torque control mode is limited with "[Pr.17] Torque limit setting
value".
If torque exceeding the torque limit setting value is commanded, the warning "Torque limit value over" (warning code: 0DA4H)
occurs, and the operation is controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during command".
During the continuous operation to torque control mode, "Torque limit" ([Md.108] Servo status1: b13) does not turn ON.
Confirm the current torque value in "[Md.104] Motor current value".
n: Axis No. - 1
Monitor item
[Md.108] Servo status1: b13
■Speed limit value setting method
Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing.
Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to
torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at
continuous operation to torque control mode switching is valid for "[Cd.148]" and "[Cd.149]".
"[Cd.147] Speed limit value at continuous operation to torque control mode" is limited with "[Pr.8] Speed limit value". If the
speed exceeding the speed limit value is commanded, the warning "Speed limit value over" (warning code: 0D51H) occurs,
and the operation is controlled with the speed limit value.
Confirm the command speed to servo amplifier with "[Md.122] Speed during command".
[Pr.8] Speed limit value
[Pr.8] Speed limit value
[Pr.17] Torque limit setting value
[Pr.17] Torque limit setting value
[Cd.147] Speed limit value at
continuous operation
to torque control mode
[Cd.150] Target torque at
continuous operation
to torque control mode
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Position control mode or
V
speed control mode
1000
0
Torque
30.0%
0
0
0
search engine
Continuous operation to torque
control mode
[Cd.149] Deceleration time at
continuous operation to
torque control mode
Contact with target
1000
300
Buffer memory address
Axis 1 to axis 16
2477+100n
Position control mode or
speed control mode
t
t
0
0
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
213